<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
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	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
<span class='line'>  2</span>  * @author Jihoon Lee - jihoonlee.in@gmail.com
<span class='line'>  3</span>  * @author Russell Toris - rctoris@wpi.edu
<span class='line'>  4</span>  */</span><span class="WHIT">
<span class='line'>  5</span> 
<span class='line'>  6</span> </span><span class="COMM">/**
<span class='line'>  7</span>  * A URDF client can be used to load a URDF and its associated models into a 3D object from the ROS
<span class='line'>  8</span>  * parameter server.
<span class='line'>  9</span>  *
<span class='line'> 10</span>  * Emits the following events:
<span class='line'> 11</span>  * * 'change' - emited after the URDF and its meshes have been loaded into the root object
<span class='line'> 12</span>  * 
<span class='line'> 13</span>  * @constructor
<span class='line'> 14</span>  * @param options - object with following keys:
<span class='line'> 15</span>  *   * ros - the ROSLIB.Ros connection handle
<span class='line'> 16</span>  *   * param (optional) - the paramter to load the URDF from, like 'robot_description'
<span class='line'> 17</span>  *   * tfClient - the TF client handle to use
<span class='line'> 18</span>  *   * path (optional) - the base path to the associated Collada models that will be loaded
<span class='line'> 19</span>  *   * rootObject (optional) - the root object to add this marker to
<span class='line'> 20</span>  */</span><span class="WHIT">
<span class='line'> 21</span> </span><span class="NAME">ROS3D.UrdfClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">param</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.param</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'robot_description'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.path</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.path</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'/'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.tfClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.tfClient</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.rootObject</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.rootObject</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Object3D</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 29</span> 
<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="COMM">// get the URDF value from ROS</span><span class="WHIT">
<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">getParam</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Param</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">param</span><span class="WHIT">
<span class='line'> 34</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="NAME">getParam.get</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">string</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 36</span> </span><span class="WHIT">    </span><span class="COMM">// hand off the XML string to the URDF model</span><span class="WHIT">
<span class='line'> 37</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">urdfModel</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.UrdfModel</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 38</span> </span><span class="WHIT">      </span><span class="NAME">string</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">string</span><span class="WHIT">
<span class='line'> 39</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 40</span> 
<span class='line'> 41</span> </span><span class="WHIT">    </span><span class="COMM">// load all models</span><span class="WHIT">
<span class='line'> 42</span> </span><span class="WHIT">    </span><span class="NAME">that.rootObject.add</span><span class="PUNC">(</span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.Urdf</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 43</span> </span><span class="WHIT">      </span><span class="NAME">urdfModel</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">urdfModel</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 44</span> </span><span class="WHIT">      </span><span class="NAME">path</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">that.path</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 45</span> </span><span class="WHIT">      </span><span class="NAME">tfClient</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">that.tfClient</span><span class="WHIT">
<span class='line'> 46</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 47</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 48</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 49</span> </span></pre></body></html>